CN-122008885-A - Method and device for determining braking torque, vehicle and storage medium

CN122008885ACN 122008885 ACN122008885 ACN 122008885ACN-122008885-A

Abstract

The invention discloses a method and a device for determining braking torque, a vehicle and a storage medium, wherein the method for determining braking torque comprises the steps of obtaining vehicle state information and first regenerative braking torque of the vehicle, determining a target weight set according to the vehicle state information, inputting the target weight set into an acceleration prediction model to obtain required acceleration of the vehicle, determining the required torque of the vehicle according to the required acceleration, determining second regenerative braking torque of the vehicle according to the required torque and the first regenerative braking torque, and executing energy recovery operation based on the second regenerative braking torque. The invention solves the technical problem that the distribution of regenerative braking torque and mechanical braking torque is unreasonable when the vehicle is used for braking energy recovery in the prior art.

Inventors

ZHU QI
LIU JIANKANG
WU QINGLONG
WANG HUI

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260120

Claims (10)

1. A method of determining braking torque, comprising: Acquiring vehicle state information and a first regenerative braking torque of the vehicle; determining a target weight set according to the vehicle state information; Inputting the target weight set into an acceleration prediction model to obtain the required acceleration of the vehicle; determining a required torque of the vehicle according to the required acceleration; Determining a second regenerative braking torque of the vehicle based on the demand torque and the first regenerative braking torque; An energy recovery operation is performed based on the second regenerative braking torque.
2. The method of determining a braking torque according to claim 1, characterized in that determining the set of target weights from the vehicle state information includes: determining a vehicle mode according to the vehicle state information, wherein the vehicle mode comprises a cruising mode, a following mode, a retarding braking mode and a parking mode; Determining a vehicle risk coefficient as a preset risk coefficient in response to the vehicle mode being the cruising mode or the parking mode; and determining that the target weight set is a first preset weight set in response to the vehicle risk coefficient being the preset risk coefficient.
3. The method of determining braking torque according to claim 2, characterized in that the method further comprises: Responding to the vehicle mode as the following mode or the retarding braking mode, and determining a following risk coefficient and a signal risk coefficient according to the vehicle state information; Determining the vehicle risk coefficient according to the vehicle following risk coefficient and the signal risk coefficient; Comparing the vehicle risk coefficient with a risk coefficient threshold value to obtain a first comparison result; determining that the target weight set is a second preset weight set in response to the first comparison result representing that the vehicle risk coefficient is greater than the risk coefficient threshold; and determining that the target weight set is the first preset weight set in response to the first comparison result representing that the vehicle risk coefficient is smaller than or equal to the risk coefficient threshold value.
4. The method of determining a braking torque according to claim 1, characterized in that determining the required torque from the required acceleration includes: acquiring mass information and tire radius of the vehicle; Determining a required braking force according to the mass information and the required acceleration; the required torque is determined according to the required braking force and the tire radius.
5. The method of determining a braking torque according to claim 1, wherein obtaining the first regenerative braking torque comprises: acquiring motor voltage, motor rotation speed, target battery charging power and motor efficiency of the vehicle; Determining a target regenerative torque from the motor voltage and the motor speed; Determining a target battery torque based on the target battery charge power and the motor efficiency; and determining the first regenerative braking torque according to the target regenerative torque and the target battery torque.
6. The method of determining a braking torque according to claim 1, characterized in that determining the braking torque from the required torque and the first regenerative braking torque comprises: Comparing the required torque with the first regenerated braking torque to obtain a second comparison result; Determining that the second regenerative braking torque is the required torque in response to the second comparison result characterizing that the required torque is less than or equal to the first regenerative braking torque; determining that the second regenerative braking torque is the first regenerative braking torque in response to the second comparison characterizing that the requested torque is greater than the first regenerative braking torque.
7. The method of determining braking torque according to claim 6, characterized in that the method further comprises: Acquiring a motor speed ratio value of the vehicle in response to the second regenerative braking torque being the first regenerative braking torque; A mechanical brake compensation torque of the vehicle is determined based on the motor speed ratio, the requested torque, and the first regenerative braking torque.
8. A brake torque determining apparatus, comprising: the acquisition module is used for acquiring the data of the electronic device, for acquiring vehicle state information and a first regenerative braking torque of the vehicle; The first determining module is used for determining a target weight set according to the vehicle state information; The input module is used for inputting the target weight set into an acceleration prediction model to obtain the required acceleration of the vehicle; A second determining module for determining a required torque of the vehicle according to the required acceleration; a third determination module for determining a second regenerative braking torque of the vehicle based on the demand torque and the first regenerative braking torque; an execution module for executing an energy recovery operation based on the second regenerative braking torque.
9. A vehicle comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of determining a braking torque as claimed in any one of the preceding claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to perform the method of determining a braking torque as claimed in any of the preceding claims 1 to 7 when run on a computer or processor.

Description

Method and device for determining braking torque, vehicle and storage medium Technical Field The invention relates to the technical field of automatic control, in particular to a method and a device for determining braking torque, a vehicle and a storage medium. Background In the field of electric vehicle energy management, particularly in the brake energy recovery technology, most existing methods rely on instant vehicle state information, such as battery state of charge, vehicle speed and brake pedal opening, to distribute regenerative braking and mechanical braking torque through table look-up or threshold judgment. However, these methods have the limitation of first lacking predictability. The traditional technology can only respond to the current operation, cannot actively predict traffic condition change, so that a braking strategy is lagged, the optimal energy recovery time is missed or regenerative braking is started under adverse conditions, and the energy recovery efficiency is reduced. Second, the braking force switching is abrupt. The sudden exit or intervention of the regenerative braking force causes a drastic change in the deceleration of the vehicle near the stopping point or in the front vehicle, affecting the comfort experience of the driver, especially in high-speed following or urban congestion environments. Finally, the torque distribution mechanism is simple. The prior art fails to realize smooth transition and optimal distribution between regenerative braking and mechanical braking, often depends on the regenerative braking at the initial stage of braking, and is suddenly switched to the mechanical braking at the final stage of braking, so that not only is energy wasted, but also the abrasion of a braking system is increased, and the overall running economy and passenger satisfaction of the electric automobile are reduced. Therefore, an innovative method for determining braking torque is needed to make up for the deficiencies of the prior art. Disclosure of Invention The embodiment of the invention provides a method and a device for determining braking torque, a vehicle and a storage medium, and aims to at least solve the technical problem that in the prior art, when the vehicle is used for braking energy recovery, the distribution of regenerative braking torque and mechanical braking torque is unreasonable. According to one embodiment of the invention, a method for determining braking torque comprises the steps of obtaining vehicle state information and first regenerative braking torque of a vehicle, determining a target weight set according to the vehicle state information, inputting the target weight set into an acceleration prediction model to obtain required acceleration of the vehicle, determining the required torque of the vehicle according to the required acceleration, determining second regenerative braking torque of the vehicle according to the required torque and the first regenerative braking torque, and executing energy recovery operation based on the second regenerative braking torque. Optionally, the method for determining the braking torque further comprises the steps of determining a vehicle mode according to the vehicle state information, wherein the vehicle mode comprises a cruising mode, a following mode, a retarding braking mode and a parking mode, determining that a vehicle risk coefficient is a preset risk coefficient in response to the vehicle mode being the cruising mode or the parking mode, and determining that a target weight set is a first preset weight set in response to the vehicle risk coefficient being the preset risk coefficient. The method for determining the braking torque further comprises the steps of determining a vehicle following risk coefficient and a signal risk coefficient according to vehicle state information in response to whether the vehicle mode is a following mode or a retarding braking mode, determining the vehicle risk coefficient according to the vehicle following risk coefficient and the signal risk coefficient, comparing the vehicle risk coefficient with a risk coefficient threshold to obtain a first comparison result, determining that a target weight set is a second preset weight set in response to the first comparison result indicating that the vehicle risk coefficient is larger than the risk coefficient threshold, and determining that the target weight set is a first preset weight set in response to the first comparison result indicating that the vehicle risk coefficient is smaller than or equal to the risk coefficient threshold. Optionally, the method for determining the braking torque further comprises the steps of obtaining mass information and the tire radius of the vehicle, determining a required braking force according to the mass information and the required acceleration, and determining the required torque according to the required braking force and the tire radius. Optionally, the method for determining the braking torq